Using Safari on your iPad or iPhone find the link (URL) you want to download from.
Press and hold the link you want to download, and select Copy from this menu.
Using FileBrowser go to the folder you want to copy the file to (in this case I will download it straight to my iMac in a Documents folder) tap the actions menu then tap Download from URL.
The URL should automatically be pasted into the edit field. Then tap Download.
And that's it.